CN104274244A - Tactile feedback system of minimally invasive surgery instrument - Google Patents
Tactile feedback system of minimally invasive surgery instrument Download PDFInfo
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- CN104274244A CN104274244A CN201310279281.4A CN201310279281A CN104274244A CN 104274244 A CN104274244 A CN 104274244A CN 201310279281 A CN201310279281 A CN 201310279281A CN 104274244 A CN104274244 A CN 104274244A
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- minimally invasive
- invasive surgery
- surgery apparatus
- elastic device
- measuring cell
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Abstract
Provided is a tactile feedback system of a minimally invasive surgery instrument. The tactile feedback system of the minimally invasive surgery instrument comprises a long and thin rod of the minimally invasive surgery instrument, an end effector connected with the long and thin rod, a first elastic device, a connecting piece with flexible deformability, a second elastic device, a first pair of rolling wheels, a second pair of rolling wheels, an indicating piece, a measuring element and a computer control system. The position of the indicating piece can be read through the measuring element in the long and thin rod mounted in the minimally invasive surgery instrument. The computer control system reads the reading of the measuring element, converts the reading, and judges the magnitude of the force applied to the inner side of the end effector. The tactile feedback system of the minimally invasive surgery instrument has the advantages of being simple in structure, high in sensitivity and low in cost.
Description
Technical field
The present invention relates to medical apparatus and instruments, particularly a kind of haptic feedback system of Minimally Invasive Surgery apparatus.
Background technology
In micro-wound surgical operation, the operation that robot works in coordination with is more and more universal.In this type of operation, surgeon will operate active controller thus controls the motion of the operating theater instruments at surgery location.Driving link generally includes one or more hands input equipment, and as action bars, handpiece or analog, their the servo motor driven driven member that moves through realizes.Driven member operates at surgery location (such as, the abdominal cavity of patient) through otch.According to operative procedure, adopt the apparatus such as nipper, calcination probe, help surgeon to carry out various operation, as sewed up, tiing a knot, grasp blood vessel or dissection, calcination or solidified structure etc.
But the method being implemented robotic surgery by " non-at-scene " mode also faces a lot of challenge.Wherein a kind of challenge is that surgical operation robot system can not provide accurately " sensation " to feed back to the surgeon of operation apparatus.Surgeon needs accurately to control driven member according to the power (moment) of feedback and operates, and is crushed to avoid applying excessive Li Shi organ or tissue.
The tactile feedback problem of micro-wound surgical operation has much difficulty.Virtual reality, 3D vision can partly replace sense of touch to help doctor to understand the operational circumstances of operating theater instruments, but above-mentioned two kinds of methods cannot realize palpation, thus cannot check tumor, pathological tissues by touching organ, tissue.
When adopting sensor acquisition to be applied to the power of instrument tip, be faced with limited space, be difficult to the problem of sterilization.In order to reduce the misery of patient, the diameter of laparoscopic surgical instruments and robot micro-wound operation apparatus is less than 12mm, and operation part needs high-temperature sterilization (at a normal atmosphere within patient abdominal cavity, sterilize under the hot environment of 121 DEG C at least 15 minutes), this is difficult to accept concerning most commercial sensor equipment.The pressure transducer that part can adapt to hot environment is expensive.Therefore, yet there are no a kind of haptic feedback system that can be integrated in Minimally Invasive Surgery apparatus of commercialization.
Summary of the invention
Object of the present invention, exactly in order to provide a kind of structure simple, the haptic feedback system of Minimally Invasive Surgery apparatus highly sensitive, with low cost.
The object of the present invention is achieved like this: a kind of haptic feedback system of Minimally Invasive Surgery apparatus, the elongate rod comprising Minimally Invasive Surgery apparatus and the end effector be attached thereto, end effector is provided with folding joint, and the elongate rod of Minimally Invasive Surgery apparatus is provided with pitching joint; Also comprise:
First elastic device, its far-end is connected with the distal medial of end effector;
Have the connector of submissive deformability, its far-end is connected with the near-end of the first elastic device;
Second elastic device, its far-end is connected with the near-end of the connector with submissive deformability, and its near-end is arranged in the elongate rod of Minimally Invasive Surgery apparatus;
First pair roller group, it is arranged on the both sides of end effector folding joints axes, the axis being parallel in its roller axis and folding joint;
Second pair roller group, it is arranged on the axis both sides in Minimally Invasive Surgery apparatus elongate rod pitching joint, the axis being parallel in its roller axis and pitching joint;
The described connector with submissive deformability passes successively in the middle of above-mentioned two pair rollers;
Indication piece, its be fixed on there is submissive deformability connector on;
Measuring cell, it is interior and parallel with the connector with submissive deformability that it is arranged on Minimally Invasive Surgery apparatus elongate rod;
Computerized control system, it is connected with the measuring cell signal of telecommunication, reads the reading of measuring cell, transforms and judges the size of the power be applied to inside end effector.
Described indication piece is pointer, and this pointer contacts with measuring cell and is connected, and measuring cell reads the position of pointer on measuring cell by computerized control system.
Roller in described first pair roller group and the second pair roller group is all small diameter long rod roller.
Described first elastic device and the second elastic device are spring, air bag or liquid capsule.
The invention has the beneficial effects as follows:
1. utilize some simple components and parts, structure is simple, easy for installation, rotary inertia is little, motion response is fast.
2. demarcate easily, control simple, thus reduce development cost.
Accompanying drawing explanation
Fig. 1 is the structural representation of the haptic feedback system of Minimally Invasive Surgery apparatus of the present invention.
Fig. 2 is the operation principle schematic diagram of the haptic feedback system of Minimally Invasive Surgery apparatus of the present invention.
Detailed description of the invention
See Fig. 1, coordinate see Fig. 2, the haptic feedback system of Minimally Invasive Surgery apparatus of the present invention, the elongate rod 1 comprising Minimally Invasive Surgery apparatus and the end effector 8 be attached thereto, end effector is provided with folding joint, and the elongate rod of Minimally Invasive Surgery apparatus is provided with pitching joint; Also comprise the first elastic device 9, there is connector 3, second elastic device 2, first pair roller group 7, the second pair roller group 6 of submissive deformability, indication piece 4, measuring cell 5 and computerized control system 10.
The far-end of the first elastic device 9 is connected with the distal medial of end effector;
The far-end with the connector 3 of submissive deformability is connected with the near-end of the first elastic device;
The far-end of the second elastic device 2 is connected with the near-end of the connector 3 with submissive deformability, and its near-end is arranged in the elongate rod 1 of Minimally Invasive Surgery apparatus;
First pair roller group 7 is arranged on the both sides of the folding joints axes of end effector 8, the axis being parallel in its roller axis and folding joint;
Second pair roller group 6 is arranged on the axis both sides in the pitching joint of Minimally Invasive Surgery apparatus elongate rod 1, the axis being parallel in its roller axis and pitching joint;
The above-mentioned connector 3 with submissive deformability passes successively in the middle of above-mentioned two pair rollers 6,7;
Indication piece 4 is fixed on to be had on the connector 3 of submissive deformability;
It is interior and parallel with the connector 3 with submissive deformability that measuring cell 5 is arranged on Minimally Invasive Surgery apparatus elongate rod 1;
Computerized control system 10 is connected with measuring cell 5 signal of telecommunication, reads the reading of measuring cell, transforms and judges the size of the power be applied to inside end effector.
Indication piece 4 in the present invention is pointer, and this pointer contacts with measuring cell 5 and is connected, and measuring cell reads the position of pointer on measuring cell by computerized control system 10.
The first pair roller group 7 in the present invention and the roller in the second pair roller group 6 are all small diameter long rod rollers.
Above-mentioned first elastic device and the second elastic device are spring, air bag or liquid capsule.
Operation principle of the present invention can be described as follows by composition graphs 2:
When end effector 8 gets around conjunction joint or pitching articulation, the connector 3 with submissive deformability is at less roller set 6,7 flex under action of diameter, but because the diameter of roller is less, make the connector 3 with submissive deformability, with the position being arranged on the indication piece 4 on connector 3, minor variations occur, measuring cell 5 reads the position of indication piece 4.
When end effector 8 end gripping objects, first elastic device 9 deforms under the effect of contact force, first elastic device 9 near-end rearward moves, the connector 3 with submissive deformability be connected with the first elastic device 9 near-end moves backward under the effect of the first elastic device 9 and the second elastic device 2, make to be arranged on the indication piece 4 had on the connector 3 of submissive deformability and obvious movement occurs, measuring cell 5 reads the position of indication piece.
When removing chucking power, under the first elastic device 9 and the effect of the second elastic device 2, connector 3 gets back to initial position, and initial value is got back in the position that measuring cell 5 reads indication piece 4.
Claims (4)
1. a haptic feedback system for Minimally Invasive Surgery apparatus, the elongate rod comprising Minimally Invasive Surgery apparatus and the end effector be attached thereto, end effector is provided with folding joint, and the elongate rod of Minimally Invasive Surgery apparatus is provided with pitching joint; It is characterized in that, also comprise:
First elastic device, its far-end is connected with the distal medial of end effector;
Have the connector of submissive deformability, its far-end is connected with the near-end of the first elastic device;
Second elastic device, its far-end is connected with the near-end of the connector with submissive deformability, and its near-end is arranged in the elongate rod of Minimally Invasive Surgery apparatus;
First pair roller group, it is arranged on the both sides of end effector folding joints axes, the axis being parallel in its roller axis and folding joint;
Second pair roller group, it is arranged on the axis both sides in Minimally Invasive Surgery apparatus elongate rod pitching joint, the axis being parallel in its roller axis and pitching joint;
The described connector with submissive deformability passes successively in the middle of above-mentioned two pair rollers;
Indication piece, its be fixed on there is submissive deformability connector on;
Measuring cell, it is interior and parallel with the connector with submissive deformability that it is arranged on Minimally Invasive Surgery apparatus elongate rod;
Computerized control system, it is connected with the measuring cell signal of telecommunication, reads the reading of measuring cell, transforms and judges the size of the power be applied to inside end effector.
2. the haptic feedback system of Minimally Invasive Surgery apparatus according to claim 1, is characterized in that: described indication piece is pointer, and this pointer contacts with measuring cell and is connected, and measuring cell reads the position of pointer on measuring cell by computerized control system.
3. the haptic feedback system of Minimally Invasive Surgery apparatus according to claim 1, is characterized in that: the roller in described first pair roller group and the second pair roller group is all small diameter long rod roller.
4. the haptic feedback system of Minimally Invasive Surgery apparatus according to claim 1, is characterized in that: described first elastic device and the second elastic device are spring, air bag or liquid capsule.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310279281.4A CN104274244B (en) | 2013-07-04 | 2013-07-04 | The haptic feedback system of Minimally Invasive Surgery apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310279281.4A CN104274244B (en) | 2013-07-04 | 2013-07-04 | The haptic feedback system of Minimally Invasive Surgery apparatus |
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| CN104274244A true CN104274244A (en) | 2015-01-14 |
| CN104274244B CN104274244B (en) | 2016-08-10 |
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| CN201310279281.4A Active CN104274244B (en) | 2013-07-04 | 2013-07-04 | The haptic feedback system of Minimally Invasive Surgery apparatus |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105662478A (en) * | 2015-12-23 | 2016-06-15 | 电子科技大学 | Palpation instrument used for robot assisted minimally invasive surgery and palpation method |
| CN106955129A (en) * | 2017-05-09 | 2017-07-18 | 佛山衡生医疗自动化有限公司 | A kind of Minimally Invasive Surgery apparatus with force feedback |
| CN108042162A (en) * | 2017-12-21 | 2018-05-18 | 微创（上海）医疗机器人有限公司 | surgical robot system and its surgical instrument |
| CN108472100A (en) * | 2016-01-26 | 2018-08-31 | 索尼公司 | Grip sense feedback device and stylus formula force feeling feedback device |
| CN111991089A (en) * | 2020-09-10 | 2020-11-27 | 苏州大学 | Minimally invasive surgery robot and tail end integrated clamp holder thereof |
| CN111991088A (en) * | 2020-09-10 | 2020-11-27 | 苏州大学 | Minimally invasive surgery robot and tail end clamp holder thereof |
| CN111991087A (en) * | 2020-09-10 | 2020-11-27 | 苏州大学 | Minimally invasive surgery robot and end effector thereof |
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| US5865724A (en) * | 1996-01-11 | 1999-02-02 | Symbiosis Corp. | Flexible microsurgical instruments incorporating a sheath having tactile and visual position indicators |
| US6538634B1 (en) * | 1998-12-18 | 2003-03-25 | Kent Ridge Digital Labs | Apparatus for the simulation of image-guided surgery |
| CN101160104A (en) * | 2005-02-22 | 2008-04-09 | 马科外科公司 | Haptic guidance system and method |
| CN101283924A (en) * | 2007-04-13 | 2008-10-15 | Tyco医疗健康集团 | Powered surgical instrument |
| US20100228264A1 (en) * | 2009-03-09 | 2010-09-09 | David Robinson | Adaptable integrated energy control system for electrosurgical tools in robotic surgical systems |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US5865724A (en) * | 1996-01-11 | 1999-02-02 | Symbiosis Corp. | Flexible microsurgical instruments incorporating a sheath having tactile and visual position indicators |
| US6538634B1 (en) * | 1998-12-18 | 2003-03-25 | Kent Ridge Digital Labs | Apparatus for the simulation of image-guided surgery |
| CN101160104A (en) * | 2005-02-22 | 2008-04-09 | 马科外科公司 | Haptic guidance system and method |
| CN101283924A (en) * | 2007-04-13 | 2008-10-15 | Tyco医疗健康集团 | Powered surgical instrument |
| US20100228264A1 (en) * | 2009-03-09 | 2010-09-09 | David Robinson | Adaptable integrated energy control system for electrosurgical tools in robotic surgical systems |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105662478A (en) * | 2015-12-23 | 2016-06-15 | 电子科技大学 | Palpation instrument used for robot assisted minimally invasive surgery and palpation method |
| CN105662478B (en) * | 2015-12-23 | 2019-01-25 | 电子科技大学 | A kind of palpation instrument and application method for robot assisted Minimally Invasive Surgery |
| CN108472100A (en) * | 2016-01-26 | 2018-08-31 | 索尼公司 | Grip sense feedback device and stylus formula force feeling feedback device |
| CN106955129A (en) * | 2017-05-09 | 2017-07-18 | 佛山衡生医疗自动化有限公司 | A kind of Minimally Invasive Surgery apparatus with force feedback |
| CN108042162A (en) * | 2017-12-21 | 2018-05-18 | 微创（上海）医疗机器人有限公司 | surgical robot system and its surgical instrument |
| CN111991089A (en) * | 2020-09-10 | 2020-11-27 | 苏州大学 | Minimally invasive surgery robot and tail end integrated clamp holder thereof |
| CN111991088A (en) * | 2020-09-10 | 2020-11-27 | 苏州大学 | Minimally invasive surgery robot and tail end clamp holder thereof |
| CN111991087A (en) * | 2020-09-10 | 2020-11-27 | 苏州大学 | Minimally invasive surgery robot and end effector thereof |
| CN111991089B (en) * | 2020-09-10 | 2022-02-11 | 苏州大学 | Minimally invasive surgery robot and tail end integrated clamp holder thereof |
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| Publication number | Publication date |
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| CN104274244B (en) | 2016-08-10 |
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